Related papers: A Structurally Flat Triangular Form for Three-Inpu…
In this letter, a new notion of stability is introduced, which is called triangular stability. A system is called triangularly stable if the norm of its state vector is bounded by a decreasing linear function of time such that its…
We establish a separation principle for the output feedback stabilisation of state-affine systems that are observable at the stabilization target. Relying on control templates (recently introduced in [4]), that allow to approximate a…
We present three dynamic error feedback controllers for robust output regulation of regular linear systems. These controllers are (i) a minimal order robust controller for exponentially stable systems (ii) an observer-based robust…
In this article, we introduce the notion of differential flatness by pure prolongation: loosely speaking, a system admits this property if, and only if, there exists a pure prolongation of finite order such that the prolonged system is…
In this paper, we are interested in flat metric structures with conical singularities on surfaces which are obtained by deforming translation surface structures. The moduli space of such flat metric structures can be viewed as some…
This paper proposes a novel control framework for handling (potentially coupled) multiple time-varying output constraints for uncertain nonlinear systems. First, it is shown that the satisfaction of multiple output constraints boils down to…
We study tracking control for uncertain nonlinear multi-input, multi-output systems modelled by $r$-th order functional differential equations (encompassing systems with arbitrary strict relative degree) in the presence of input…
We present a design framework to induce stable oscillations through mixed feedback control. We provide conditions on the feedback gain and on the balance between positive and negative feedback contributions to guarantee robust oscillations.…
In the former article "Formal mathematical systems including a structural induction principle" we have presented a unified theory for formal mathematical systems including recursive systems closely related to formal grammars, including the…
Distributed control problems under some specific information constraints can be formulated as (possibly infinite dimensional) convex optimization problems. The underlying motivation of this work is to develop an understanding of the optimal…
It is widely recognized that no tractable necessary and sufficient conditions exist for determining whether a system is, in general, differentially flat. However, specific cases do provide such conditions. For instance, driftless systems…
We present a new type of feedback linearization that is tailored for mechanical control systems. We call it a mechanical feedback linearization. Its basic feature is preservation of the mechanical structure of the system. For mechanical…
This paper addresses problems on the structural design of control systems taking explicitly into consideration the possible application to large-scale systems. We provide an efficient and unified framework to solve the following major…
A triangular form is defined to be an integer-valued quadratic polynomial of the form $a_1P_3(x_1)+a_2P_3(x_2)+\cdots+a_kP_3(x_k)$ where $a_i's$ are positive integers and $P_3(x)=x(x+1)/2$. A triangular form is called regular if it…
It is well known that for flat systems the tracking control problem can be solved by utilizing a linearizing quasi-static feedback of generalized states. If measurements (or estimates) of a so-called generalized Brunovsk\'y state are…
This paper studies the $\alpha$-stability property of differentially flat nonlinear dynamical systems. The results build off the recently introduced notion of $\alpha$-stability, which is particularly amenable to characterize the ability of…
This article classifies closed G2-structures such that the induced metric is conformally flat. It is shown that any closed G2-structure with conformally flat metric is locally equivalent to one of three explicit examples. In particular, it…
Designing a static state-feedback controller subject to structural constraint achieving asymptotic stability is a relevant problem with many applications, including network decentralized control, coordinated control, and sparse feedback…
We investigate a new class of nonlinear control systems of O.D.E., which are not feedback linearizable in general. Our class is a generalization of the well-known feedback linearizable systems, and moreover it is a generalization of the…
We consider the static output feedback control for Linear Quadratic Regulator problems with structured constraints under the assumption that system parameters are unknown. To solve the problem in the model free setting, we propose the…